/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "hostComputer.h"
#include "math.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart1;

/* Definitions for hcReporteTask */
osThreadId_t hcReporteTaskHandle;
const osThreadAttr_t hcReporteTask_attributes = {
  .name = "hcReporteTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
void HcReporteTask(void *argument);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
//	printf("system init\r\n");
	HostComputer_Init();
  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of hcReporteTask */
  hcReporteTaskHandle = osThreadNew(HcReporteTask, NULL, &hcReporteTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */

static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */
	
  /* USER CODE END USART1_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/* USER CODE BEGIN Header_HcReporteTask */
/**
  * @brief  Function implementing the hcReporteTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_HcReporteTask */
void HcReporteTask(void *argument)
{
  /* USER CODE BEGIN 5 */
	float time = 0;
	float data_sin;
	float data_cos;
	float data[2];
	
	uint16_t throt = 1000;
	uint16_t AUX[5] = {1000,1000,1000,1000,1000};
	uint16_t pwm[4] = {0,0,0,0};
	uint16_t voltage = 500;
	
	int16_t accel[3] = {0};
	int16_t roll = 0,pitch = 0,yaw = 0;
	
	int16_t angle[3];
  /* Infinite loop */
  for(;;)
  {		
//		data_sin = sin(time)*100;
//		data_cos = cos(time)*100;
//		data[0] = data_sin;
////		data[1] = data_cos;
//		HostComputer_SendUserData_float(FUNC_ID1,data,2);
//		time += 0.02f;
		
		
		
//		HostComputer_SendECUData(throt,throt,throt,throt,AUX,pwm,voltage);
//		throt += 20;
//		if( throt >= 2000 )
//			throt = 1000;
//		
//		
//		AUX[0] += 20;
//		if( AUX[0] >= 2000 )
//			AUX[0] = 1000;	
//		AUX[1] += 20;
//		if( AUX[1] >= 2000 )
//			AUX[1] = 1000;	
//		AUX[2] += 20;
//		if( AUX[2] >= 2000 )
//			AUX[2] = 1000;	
//		AUX[3] += 20;
//		if( AUX[3] >= 2000 )
//			AUX[3] = 1000;	
//		AUX[4] += 20;
//		if( AUX[4] >= 2000 )
//			AUX[4] = 1000;	

//		pwm[0] += 2;
//		if( pwm[0] >= 100 )
//			pwm[0] = 1;	
//		pwm[1] += 2;
//		if( pwm[1] >= 100 )
//			pwm[1] = 1;	
//		pwm[2] += 2;
//		if( pwm[2] >= 100 )
//			pwm[2] = 1;	
//		pwm[3] += 2;
//		if( pwm[3] >= 100 )
//			pwm[3] = 1;			

//		voltage += 20;
//		if( voltage >= 1200 )
//			voltage = 500;

		HostComputer_SendPostureData(accel,accel,accel,angle);
		
		accel[0] += 100;
		if( accel[0] >= 2000)
			accel[0] = -2000;
		accel[1] += 100;
		if( accel[1] >= 2000)
			accel[1] = -2000;		
		accel[2] += 100;
		if( accel[2] >= 2000)
			accel[2] = -2000;
		
		
		
		data_sin = sin(2*time);
		data_cos = cos(2*time);				
		roll = data_sin * 4500;
		pitch = data_cos * 4500;
		
		yaw += 10;
		if(yaw >= 1800)
			yaw = -1800;		
		
		angle[0] = roll;
		angle[1] = pitch;
		angle[2] = yaw;
		
		time += 0.02f;
    osDelay(20);
  }
  /* USER CODE END 5 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
